simulation.py

import numpy as np
import matplotlib.pyplot as plt
from matplotlib import animation
import templates
import agent
import motorPrimitive

class Simulation:
    "This is the simulation class. A simulation is an object that specifies parameters for the simulation."
    timeLength = 100 # 100
    timeStep = 0.1   # 0.1


# INITIALIZE SIMULATION'S TIME-LENGTH,TIME-STEP
    def __init__(self,timeLength, timeStep):
        self.timeLength = timeLength
        self.timeStep = timeStep


# SET PARAMETERS FOR X,Y AND PHI VALUES & POPULATE X,Y,PHI ARRAYS FOR SIMULATION ---------------
def populate_xyphi(MotorPrimitive,f,t):
    for i in range(0,len(t)-1):
        MotorPrimitive.phi[i+1] = MotorPrimitive.phi[i] + MotorPrimitive.velocity*MotorPrimitive.gain*MotorPrimitive.timeStep*f(t[i], MotorPrimitive.phi[i])
        MotorPrimitive.x[i+1] = MotorPrimitive.x[i] + np.sin(MotorPrimitive.phi[i])*MotorPrimitive.timeStep
        MotorPrimitive.y[i+1] = MotorPrimitive.y[i] + np.cos(MotorPrimitive.phi[i])*MotorPrimitive.timeStep
    return MotorPrimitive.x,MotorPrimitive.y,MotorPrimitive.phi